w mx / Mbed 2 deprecated wmx_arm_communication

示教机械臂

Dependencies:   MQTT SDFileSystem WIZnet_Library mbed

Fork of wmx_laser_copy by w mx

mainwmx.cpp@13:56063ceac462, 2018-08-02 (annotated)

Committer:
xmwmx
Date:
Thu Aug 02 07:34:41 2018 +0000
Revision:
13:56063ceac462
Parent:
12:51be919e2c78
Child:
14:350e03215b0e
????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
xmwmx 8:e76bebe9c45f 1 /************************************************************************************************
xmwmx 8:e76bebe9c45f 2 File name: main.cpp
xmwmx 8:e76bebe9c45f 3 Description: 项目激光部分客户端代码
xmwmx 8:e76bebe9c45f 4 Author: 秦智
xmwmx 8:e76bebe9c45f 5 Date: June 4, 2018
xmwmx 8:e76bebe9c45f 6 Others: 本程序编写在mbed平台(https://os.mbed.com/)上
xmwmx 8:e76bebe9c45f 7
xmwmx 8:e76bebe9c45f 8 *************************************************************************************************/
xmwmx 8:e76bebe9c45f 9
xmwmx 8:e76bebe9c45f 10 #include "mbed.h"
xmwmx 8:e76bebe9c45f 11 #include <math.h>
xmwmx 8:e76bebe9c45f 12 #include <cstring>
xmwmx 8:e76bebe9c45f 13 #include <stdlib.h>
xmwmx 8:e76bebe9c45f 14 #include "SDFileSystem.h"
xmwmx 8:e76bebe9c45f 15 #include "networking.h"
xmwmx 9:a3f9faa9ca1f 16
xmwmx 8:e76bebe9c45f 17
xmwmx 8:e76bebe9c45f 18
xmwmx 10:acc53f50c9df 19 typedef enum {
xmwmx 10:acc53f50c9df 20 PointerS,PointerW,PointerX,PointerY,PointerZ,PointerA,PointerL,PointerWW,PointerP
xmwmx 10:acc53f50c9df 21 } STATE; //定义结构体枚举类型STATE
xmwmx 8:e76bebe9c45f 22
xmwmx 8:e76bebe9c45f 23
xmwmx 10:acc53f50c9df 24 #define run 32000
xmwmx 10:acc53f50c9df 25 #define rad 360
xmwmx 10:acc53f50c9df 26 #define turn 1
xmwmx 10:acc53f50c9df 27
xmwmx 8:e76bebe9c45f 28 /////调试
xmwmx 8:e76bebe9c45f 29 Serial pc(PA_9, PA_10);
xmwmx 10:acc53f50c9df 30 Serial bt(PB_10, PB_11);
xmwmx 8:e76bebe9c45f 31 DigitalOut LED(PB_8);
xmwmx 8:e76bebe9c45f 32 /////
xmwmx 8:e76bebe9c45f 33
xmwmx 8:e76bebe9c45f 34 //硬件接口
xmwmx 8:e76bebe9c45f 35 // mosi, miso, sclk, cs, name
xmwmx 8:e76bebe9c45f 36 SDFileSystem sd(PB_15, PB_14, PB_13, PB_12, "sd");
xmwmx 8:e76bebe9c45f 37 //步进电机
xmwmx 10:acc53f50c9df 38 DigitalOut step[3] = {DigitalOut(PC_5), DigitalOut(PA_5),DigitalOut(PC_3)}; //0--x P9,1--y P17
xmwmx 10:acc53f50c9df 39 DigitalOut dir[3] = {DigitalOut(PC_4), DigitalOut(PA_4),DigitalOut(PC_2)}; //0--x,1--y
xmwmx 10:acc53f50c9df 40 DigitalOut en[3] = {DigitalOut(PD_2), DigitalOut(PA_2),DigitalOut(PC_13)}; //0--x,1--y
xmwmx 8:e76bebe9c45f 41 //电子开关,激光开关
xmwmx 8:e76bebe9c45f 42 DigitalOut switch_GS(PC_15);
xmwmx 8:e76bebe9c45f 43 //行程开关
xmwmx 10:acc53f50c9df 44 DigitalIn switch_pos1(PC_8); //P25
xmwmx 8:e76bebe9c45f 45 DigitalIn switch_pos2(PA_6); //P26
xmwmx 10:acc53f50c9df 46 DigitalIn switch_pos3(PC_6); //P27
xmwmx 12:51be919e2c78 47
xmwmx 12:51be919e2c78 48 InterruptIn switch_posx(PC_8); //P25
xmwmx 12:51be919e2c78 49 InterruptIn switch_posy(PA_6); //P26
xmwmx 12:51be919e2c78 50 InterruptIn switch_posz(PC_6); //P27
xmwmx 8:e76bebe9c45f 51
xmwmx 8:e76bebe9c45f 52 //运行中的全局变量
xmwmx 8:e76bebe9c45f 53 volatile bool Working, Getawork, Isend, Dataused, Getdata;
xmwmx 10:acc53f50c9df 54 //FILE *fp_drawing;// 存储图案的文件
xmwmx 8:e76bebe9c45f 55 int status = 0; //0: 初始化; 1:建立通信; 2:等候任务; 3:等待数据 4:正在执行一个任务
xmwmx 10:acc53f50c9df 56 int now_x, now_y,now_z;
xmwmx 8:e76bebe9c45f 57 int Endoffile = 0;
xmwmx 8:e76bebe9c45f 58
xmwmx 8:e76bebe9c45f 59 // float thedata[50][3];
xmwmx 8:e76bebe9c45f 60 // char sdata[1024];
xmwmx 8:e76bebe9c45f 61 int Nofdata;
xmwmx 8:e76bebe9c45f 62 bool ifreceive;
xmwmx 8:e76bebe9c45f 63
xmwmx 8:e76bebe9c45f 64 //与实际有关参数
xmwmx 8:e76bebe9c45f 65 float Lenoflattice = 1 ;//mm 取1mm为xy单元 unit_xy/Lenoflattice=100
xmwmx 9:a3f9faa9ca1f 66 int unit_xy = 100; //单位长度(xy移动一格)对应unit_xy转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
xmwmx 8:e76bebe9c45f 67 int unit_x = 103; //单位长度(xy移动一格)对应unit_x转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
xmwmx 8:e76bebe9c45f 68 int unit_y = 103; //单位长度(xy移动一格)对应unit_y转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
xmwmx 8:e76bebe9c45f 69 ///Ticker ticker_step;
xmwmx 8:e76bebe9c45f 70 float step_halfperiod = 0.0001;//0.0002;
xmwmx 8:e76bebe9c45f 71 int max_x, max_y;
xmwmx 8:e76bebe9c45f 72 int dir_x = 1;///调试时调整
xmwmx 8:e76bebe9c45f 73 int dir_y = 1;///调试时调整
xmwmx 10:acc53f50c9df 74 int dir_z = 1;///调试时调整
xmwmx 10:acc53f50c9df 75
xmwmx 11:568789ce1397 76 bool ready = 0;
xmwmx 11:568789ce1397 77 bool start = 0;
xmwmx 12:51be919e2c78 78 bool done = 0;
xmwmx 11:568789ce1397 79
xmwmx 10:acc53f50c9df 80 char buf[256];
xmwmx 10:acc53f50c9df 81 int cur;
xmwmx 10:acc53f50c9df 82 bool received;
xmwmx 10:acc53f50c9df 83 bool flagx, flagy , flagz , flaga , flagw , flagp;
xmwmx 10:acc53f50c9df 84 float X1 , X2 , Y1 , Y2 , Z , A; // 定义浮点数值用以储存返回给机械臂的执行步数
xmwmx 8:e76bebe9c45f 85
xmwmx 8:e76bebe9c45f 86 void rotate(int id ,int pix);
xmwmx 12:51be919e2c78 87 void init_zero();
xmwmx 8:e76bebe9c45f 88
xmwmx 8:e76bebe9c45f 89
xmwmx 10:acc53f50c9df 90 void beginning()
xmwmx 8:e76bebe9c45f 91 {
xmwmx 10:acc53f50c9df 92 // x
xmwmx 10:acc53f50c9df 93 // ##
xmwmx 10:acc53f50c9df 94 pc.printf("y\n"); // ||
xmwmx 10:acc53f50c9df 95 while(switch_pos2.read()) // |====||=====|||#y
xmwmx 10:acc53f50c9df 96 { // ||
xmwmx 10:acc53f50c9df 97 rotate(1,-5); // ##
xmwmx 10:acc53f50c9df 98 } // z
xmwmx 10:acc53f50c9df 99 //
xmwmx 10:acc53f50c9df 100 pc.printf("z\n"); //
xmwmx 10:acc53f50c9df 101 while(switch_pos3.read()) //
xmwmx 10:acc53f50c9df 102 { //
xmwmx 10:acc53f50c9df 103 rotate(2,-5); //
xmwmx 8:e76bebe9c45f 104 } //
xmwmx 10:acc53f50c9df 105 //
xmwmx 10:acc53f50c9df 106 pc.printf("x\n"); //
xmwmx 10:acc53f50c9df 107 while(switch_pos1.read()) //
xmwmx 10:acc53f50c9df 108 { //
xmwmx 10:acc53f50c9df 109 rotate(0,-5); //
xmwmx 10:acc53f50c9df 110 }
xmwmx 12:51be919e2c78 111 init_zero();
xmwmx 8:e76bebe9c45f 112 }
xmwmx 8:e76bebe9c45f 113
xmwmx 10:acc53f50c9df 114 void init_zero()
xmwmx 8:e76bebe9c45f 115 {
xmwmx 8:e76bebe9c45f 116 now_x = 0;
xmwmx 8:e76bebe9c45f 117 now_y = 0;
xmwmx 10:acc53f50c9df 118 now_z = 0;
xmwmx 10:acc53f50c9df 119 strcpy(buf,"");
xmwmx 10:acc53f50c9df 120 // step[0] = 0;
xmwmx 10:acc53f50c9df 121 // step[1] = 0;
xmwmx 10:acc53f50c9df 122 // step[2] = 0;
xmwmx 12:51be919e2c78 123 }
xmwmx 8:e76bebe9c45f 124
xmwmx 12:51be919e2c78 125 void rotate(int id, int pix) //id= 0--x,1--y ,2--z pix=32000为一圈
xmwmx 8:e76bebe9c45f 126 {
xmwmx 12:51be919e2c78 127 if (pix >= 0)
xmwmx 12:51be919e2c78 128 {
xmwmx 8:e76bebe9c45f 129 dir[0] = dir_x;
xmwmx 8:e76bebe9c45f 130 dir[1] = dir_y;
xmwmx 10:acc53f50c9df 131 dir[2] = dir_z;
xmwmx 12:51be919e2c78 132 }
xmwmx 12:51be919e2c78 133 else
xmwmx 12:51be919e2c78 134 {
xmwmx 8:e76bebe9c45f 135 pix = -pix;
xmwmx 8:e76bebe9c45f 136 dir[0] = 1 - dir_x;
xmwmx 8:e76bebe9c45f 137 dir[1] = 1 - dir_y;
xmwmx 10:acc53f50c9df 138 dir[2] = 1 - dir_z;
xmwmx 8:e76bebe9c45f 139 }
xmwmx 12:51be919e2c78 140 for (int i = 0; i < pix; i++)
xmwmx 12:51be919e2c78 141 {
xmwmx 8:e76bebe9c45f 142 step[id] = 1;
xmwmx 8:e76bebe9c45f 143 wait(step_halfperiod);
xmwmx 8:e76bebe9c45f 144 step[id] = 0;
xmwmx 8:e76bebe9c45f 145 wait(step_halfperiod);
xmwmx 8:e76bebe9c45f 146 }
xmwmx 8:e76bebe9c45f 147 }
xmwmx 8:e76bebe9c45f 148
xmwmx 10:acc53f50c9df 149 void moveto(float x, float y,float z)
xmwmx 8:e76bebe9c45f 150 {
xmwmx 12:51be919e2c78 151 if((x>(z-40))&&(x<(z+70))&&x>=0&&z>=0)//机械干涉限定条件
xmwmx 12:51be919e2c78 152 {
xmwmx 12:51be919e2c78 153 rotate(0, (x - now_x)*run/rad);
xmwmx 12:51be919e2c78 154 rotate(1, (y - now_y)*run/rad);
xmwmx 12:51be919e2c78 155 rotate(2, (z - now_z)*run/rad);
xmwmx 12:51be919e2c78 156 now_x = x;
xmwmx 12:51be919e2c78 157 now_y = y;
xmwmx 12:51be919e2c78 158 now_z = z;
xmwmx 12:51be919e2c78 159 }
xmwmx 12:51be919e2c78 160 else
xmwmx 12:51be919e2c78 161 {
xmwmx 12:51be919e2c78 162 pc.printf("limited\r\n");
xmwmx 12:51be919e2c78 163 }
xmwmx 8:e76bebe9c45f 164 }
xmwmx 10:acc53f50c9df 165
xmwmx 10:acc53f50c9df 166
xmwmx 8:e76bebe9c45f 167
xmwmx 8:e76bebe9c45f 168 void draw()
xmwmx 8:e76bebe9c45f 169 {
xmwmx 10:acc53f50c9df 170 //unit_xy=unit_xy*k;
xmwmx 10:acc53f50c9df 171 float x, y, z,a;
xmwmx 10:acc53f50c9df 172 FILE *fp_drawing = fopen("/sd/write.txt", "r");
xmwmx 8:e76bebe9c45f 173 pc.printf("reading\r\n");
xmwmx 10:acc53f50c9df 174 flagp=0;
xmwmx 10:acc53f50c9df 175 for (int i = 0; fscanf(fp_drawing, "(%f %f %f %f)", &x, &y, &z,&a) == 4&&flagp==0; i++)
xmwmx 8:e76bebe9c45f 176 {
xmwmx 10:acc53f50c9df 177 pc.printf("(%f,%f,%f)|%d\r\n", x, y, z,i);
xmwmx 10:acc53f50c9df 178 moveto(x, y,z);
xmwmx 8:e76bebe9c45f 179 // moveto(thedata[i][0],thedata[i][1]);
xmwmx 8:e76bebe9c45f 180 // markd??>ot(thedata[i][2]);
xmwmx 8:e76bebe9c45f 181 }
xmwmx 8:e76bebe9c45f 182 fclose(fp_drawing);
xmwmx 10:acc53f50c9df 183 flagw = false;
xmwmx 10:acc53f50c9df 184 flagp = false;
xmwmx 10:acc53f50c9df 185 pc.printf("Here4!\r\n");
xmwmx 8:e76bebe9c45f 186 }
xmwmx 8:e76bebe9c45f 187
xmwmx 10:acc53f50c9df 188 void btInterrupt() //中断接收函数
xmwmx 8:e76bebe9c45f 189 {
xmwmx 10:acc53f50c9df 190 if(!bt.readable())
xmwmx 10:acc53f50c9df 191 return;
xmwmx 10:acc53f50c9df 192 char strRe1; //定义字符串
xmwmx 10:acc53f50c9df 193 static STATE State = PointerS; // 初始状态待检查
xmwmx 10:acc53f50c9df 194 strRe1 = bt.getc(); //读取一个byte数据
xmwmx 10:acc53f50c9df 195
xmwmx 10:acc53f50c9df 196 switch(State)
xmwmx 10:acc53f50c9df 197 {
xmwmx 10:acc53f50c9df 198 case PointerS:
xmwmx 10:acc53f50c9df 199 if (strRe1 == (char)'S')
xmwmx 10:acc53f50c9df 200 {
xmwmx 10:acc53f50c9df 201 State = PointerW; //准备跳转至数据选择
xmwmx 10:acc53f50c9df 202 cur = 0;
xmwmx 10:acc53f50c9df 203 }
xmwmx 10:acc53f50c9df 204 else
xmwmx 10:acc53f50c9df 205 State = PointerS;
xmwmx 10:acc53f50c9df 206 break;
xmwmx 10:acc53f50c9df 207 case PointerW:
xmwmx 10:acc53f50c9df 208 switch (strRe1)
xmwmx 8:e76bebe9c45f 209 {
xmwmx 10:acc53f50c9df 210 case (char)'X':
xmwmx 10:acc53f50c9df 211 State = PointerX;
xmwmx 10:acc53f50c9df 212 break;
xmwmx 10:acc53f50c9df 213 case (char)'Y':
xmwmx 10:acc53f50c9df 214 State = PointerY;
xmwmx 10:acc53f50c9df 215 break;
xmwmx 10:acc53f50c9df 216 case (char)'Z':
xmwmx 10:acc53f50c9df 217 State = PointerZ;
xmwmx 10:acc53f50c9df 218 break;
xmwmx 10:acc53f50c9df 219 case (char)'S':
xmwmx 10:acc53f50c9df 220 State = PointerS;
xmwmx 10:acc53f50c9df 221 break;
xmwmx 10:acc53f50c9df 222 case (char)'L':
xmwmx 10:acc53f50c9df 223 State = PointerL;
xmwmx 10:acc53f50c9df 224 break;
xmwmx 10:acc53f50c9df 225 case (char)'A':
xmwmx 10:acc53f50c9df 226 State = PointerA;
xmwmx 10:acc53f50c9df 227 break;
xmwmx 10:acc53f50c9df 228 case (char)'W':
xmwmx 10:acc53f50c9df 229 State = PointerWW;
xmwmx 10:acc53f50c9df 230 break;
xmwmx 10:acc53f50c9df 231 case (char)'P':
xmwmx 10:acc53f50c9df 232 State = PointerP;
xmwmx 10:acc53f50c9df 233 break;
xmwmx 10:acc53f50c9df 234 case (char)'K':
xmwmx 10:acc53f50c9df 235 State = PointerS;
xmwmx 10:acc53f50c9df 236 pc.printf("beginning\r\n");
xmwmx 10:acc53f50c9df 237 beginning();
xmwmx 10:acc53f50c9df 238 break;
xmwmx 10:acc53f50c9df 239
xmwmx 8:e76bebe9c45f 240 }
xmwmx 10:acc53f50c9df 241 //case PointerX:
xmwmx 10:acc53f50c9df 242 // if (strRe1 == (char)'\n') {
xmwmx 10:acc53f50c9df 243 // buf[cur]='\0';
xmwmx 10:acc53f50c9df 244 // pc.printf("%s\n",buf);
xmwmx 10:acc53f50c9df 245 // X = atof(buf+1);
xmwmx 10:acc53f50c9df 246 // State = PointerS;
xmwmx 10:acc53f50c9df 247 // pc.printf("%f\n",X);
xmwmx 10:acc53f50c9df 248 // } else {
xmwmx 10:acc53f50c9df 249 // buf[cur++]=strRe1;
xmwmx 10:acc53f50c9df 250 // }
xmwmx 10:acc53f50c9df 251 // break;
xmwmx 10:acc53f50c9df 252 // case PointerY:
xmwmx 10:acc53f50c9df 253 // if (strRe1 == (char)'\n') {
xmwmx 10:acc53f50c9df 254 // buf[cur]='\0';
xmwmx 10:acc53f50c9df 255 // pc.printf("%s\n",buf);
xmwmx 10:acc53f50c9df 256 // Y = atof(buf+1);
xmwmx 10:acc53f50c9df 257 // State = PointerS;
xmwmx 10:acc53f50c9df 258 // pc.printf("%f\n",Y);
xmwmx 10:acc53f50c9df 259 // } else {
xmwmx 10:acc53f50c9df 260 // buf[cur++]=strRe1;
xmwmx 10:acc53f50c9df 261 // }
xmwmx 10:acc53f50c9df 262 // break;
xmwmx 10:acc53f50c9df 263 // case PointerZ:
xmwmx 10:acc53f50c9df 264 // if (strRe1 == (char)'\n') {
xmwmx 10:acc53f50c9df 265 // buf[cur]='\0';
xmwmx 10:acc53f50c9df 266 // pc.printf("%s\n",buf);
xmwmx 10:acc53f50c9df 267 // Z = atof(buf+1);
xmwmx 10:acc53f50c9df 268 // State = PointerS;
xmwmx 10:acc53f50c9df 269 // pc.printf("%f\n",Z);
xmwmx 10:acc53f50c9df 270 // } else {
xmwmx 10:acc53f50c9df 271 // buf[cur++]=strRe1;
xmwmx 10:acc53f50c9df 272 // }
xmwmx 10:acc53f50c9df 273 // break;
xmwmx 10:acc53f50c9df 274 case PointerX:
xmwmx 10:acc53f50c9df 275 if (strRe1 == (char)'\n')
xmwmx 10:acc53f50c9df 276 {
xmwmx 10:acc53f50c9df 277 buf[cur]='\0';
xmwmx 10:acc53f50c9df 278 pc.printf("%s\r\n",buf);
xmwmx 10:acc53f50c9df 279 X1 = atof(buf+1);
xmwmx 10:acc53f50c9df 280 State = PointerS;
xmwmx 10:acc53f50c9df 281 pc.printf("%f\r\n",X1); //32000bu = 360du
xmwmx 10:acc53f50c9df 282 flagx = true;
xmwmx 10:acc53f50c9df 283 }
xmwmx 10:acc53f50c9df 284 else
xmwmx 10:acc53f50c9df 285 {
xmwmx 10:acc53f50c9df 286 buf[cur++]=strRe1;
xmwmx 10:acc53f50c9df 287 }
xmwmx 10:acc53f50c9df 288 break;
xmwmx 10:acc53f50c9df 289 case PointerY:
xmwmx 10:acc53f50c9df 290 if (strRe1 == (char)'\n')
xmwmx 10:acc53f50c9df 291 {
xmwmx 10:acc53f50c9df 292 buf[cur]='\0';
xmwmx 10:acc53f50c9df 293 pc.printf("%s\r\n",buf);
xmwmx 10:acc53f50c9df 294 Y1 = atof(buf+1);
xmwmx 10:acc53f50c9df 295 //Y2 = Y1;
xmwmx 10:acc53f50c9df 296 // Y1 = Y2 - Y1;
xmwmx 10:acc53f50c9df 297 State = PointerS;
xmwmx 10:acc53f50c9df 298 pc.printf("%f\r\n",Y1);
xmwmx 10:acc53f50c9df 299 flagy = true;
xmwmx 10:acc53f50c9df 300 }
xmwmx 10:acc53f50c9df 301 else
xmwmx 10:acc53f50c9df 302 {
xmwmx 10:acc53f50c9df 303 buf[cur++]=strRe1;
xmwmx 10:acc53f50c9df 304 }
xmwmx 10:acc53f50c9df 305 break;
xmwmx 10:acc53f50c9df 306 case PointerZ:
xmwmx 10:acc53f50c9df 307 if (strRe1 == (char)'\n')
xmwmx 10:acc53f50c9df 308 {
xmwmx 10:acc53f50c9df 309 buf[cur]='\0';
xmwmx 10:acc53f50c9df 310 pc.printf("%s\r\n",buf);
xmwmx 10:acc53f50c9df 311 Z = atof(buf+1);
xmwmx 10:acc53f50c9df 312 State = PointerS;
xmwmx 10:acc53f50c9df 313 pc.printf("%f\r\n",Z);
xmwmx 10:acc53f50c9df 314 flagz = true;
xmwmx 10:acc53f50c9df 315 }
xmwmx 10:acc53f50c9df 316 else
xmwmx 10:acc53f50c9df 317 {
xmwmx 10:acc53f50c9df 318 buf[cur++]=strRe1;
xmwmx 10:acc53f50c9df 319 }
xmwmx 10:acc53f50c9df 320 break;
xmwmx 10:acc53f50c9df 321 case PointerA:
xmwmx 10:acc53f50c9df 322 if (strRe1 == (char)'\n')
xmwmx 10:acc53f50c9df 323 {
xmwmx 10:acc53f50c9df 324 buf[cur]='\0';
xmwmx 10:acc53f50c9df 325 pc.printf("%s\n",buf);
xmwmx 10:acc53f50c9df 326 A = atof(buf+1);
xmwmx 10:acc53f50c9df 327 State = PointerS;
xmwmx 10:acc53f50c9df 328 pc.printf("%f\n",A);
xmwmx 10:acc53f50c9df 329 }
xmwmx 10:acc53f50c9df 330 else
xmwmx 10:acc53f50c9df 331 {
xmwmx 10:acc53f50c9df 332 buf[cur++]=strRe1;
xmwmx 10:acc53f50c9df 333 }
xmwmx 10:acc53f50c9df 334 break;
xmwmx 10:acc53f50c9df 335 case PointerL:
xmwmx 10:acc53f50c9df 336 if (strRe1 == (char)'\n')
xmwmx 10:acc53f50c9df 337 {
xmwmx 10:acc53f50c9df 338 buf[cur]='\0';
xmwmx 10:acc53f50c9df 339 State = PointerS;
xmwmx 10:acc53f50c9df 340 received = true;
xmwmx 10:acc53f50c9df 341 pc.printf("received\r\n");
xmwmx 10:acc53f50c9df 342 }
xmwmx 10:acc53f50c9df 343 else
xmwmx 10:acc53f50c9df 344 {
xmwmx 10:acc53f50c9df 345 buf[cur++]=strRe1;
xmwmx 10:acc53f50c9df 346 }
xmwmx 10:acc53f50c9df 347 break;
xmwmx 10:acc53f50c9df 348 case PointerWW:
xmwmx 10:acc53f50c9df 349 flagw = true;
xmwmx 10:acc53f50c9df 350 State = PointerS;
xmwmx 10:acc53f50c9df 351 break;
xmwmx 10:acc53f50c9df 352 case PointerP:
xmwmx 10:acc53f50c9df 353 flagp = true;
xmwmx 10:acc53f50c9df 354 State = PointerS;
xmwmx 10:acc53f50c9df 355 break;
xmwmx 8:e76bebe9c45f 356 }
xmwmx 8:e76bebe9c45f 357 }
xmwmx 8:e76bebe9c45f 358
xmwmx 11:568789ce1397 359 void on_control_cmd(const char* actuator_name, const char* control_value)
xmwmx 11:568789ce1397 360 {
xmwmx 11:568789ce1397 361
xmwmx 11:568789ce1397 362 if (strcmp(actuator_name, "create") == 0)
xmwmx 11:568789ce1397 363 {
xmwmx 11:568789ce1397 364 int the_command = atoi(control_value);
xmwmx 11:568789ce1397 365 //
xmwmx 13:56063ceac462 366 if(the_command==1)
xmwmx 11:568789ce1397 367 {
xmwmx 11:568789ce1397 368 ready=1;
xmwmx 11:568789ce1397 369 pc.printf("get ready\r\n");
xmwmx 11:568789ce1397 370 }
xmwmx 13:56063ceac462 371 else if(the_command==2)
xmwmx 11:568789ce1397 372 {
xmwmx 11:568789ce1397 373 start=1;
xmwmx 11:568789ce1397 374 pc.printf("get start\r\n");
xmwmx 11:568789ce1397 375 }
xmwmx 13:56063ceac462 376 else if(the_command==3)
xmwmx 11:568789ce1397 377 {
xmwmx 11:568789ce1397 378 done=1;
xmwmx 11:568789ce1397 379 pc.printf("get done\r\n");
xmwmx 11:568789ce1397 380 }
xmwmx 11:568789ce1397 381 //
xmwmx 11:568789ce1397 382
xmwmx 11:568789ce1397 383 }
xmwmx 11:568789ce1397 384 }
xmwmx 11:568789ce1397 385
xmwmx 11:568789ce1397 386
xmwmx 8:e76bebe9c45f 387 int main()
xmwmx 8:e76bebe9c45f 388 {
xmwmx 10:acc53f50c9df 389 init_zero(); //初始化
xmwmx 12:51be919e2c78 390
xmwmx 10:acc53f50c9df 391 bt.attach(btInterrupt);
xmwmx 10:acc53f50c9df 392 pc.printf("beginning\r\n");
xmwmx 10:acc53f50c9df 393 beginning();
xmwmx 8:e76bebe9c45f 394 pc.printf("finish\r\n");
xmwmx 11:568789ce1397 395
xmwmx 11:568789ce1397 396 MQTTSocket sock;
xmwmx 11:568789ce1397 397 MClient client(sock);
xmwmx 11:568789ce1397 398 //声明所有的传感器，每行一个，每个由名字、单位两部分组成，最后一行必须为空指针作为结尾
xmwmx 11:568789ce1397 399 const char* sensors[][2] = {
xmwmx 11:568789ce1397 400 "report", "",
xmwmx 11:568789ce1397 401 NULL, NULL //最后一行以空指针作为结束标记
xmwmx 11:568789ce1397 402 };
xmwmx 11:568789ce1397 403
xmwmx 11:568789ce1397 404 //声明所有的执行器，每行一个，每个由名字、参数类型两部分组成，最后一行必须为空指针作为结尾
xmwmx 11:568789ce1397 405 const char* actuators[][2] = {
xmwmx 11:568789ce1397 406 "create", "",
xmwmx 11:568789ce1397 407 NULL, NULL //最后一行以空指针作为结束标记
xmwmx 11:568789ce1397 408 };
xmwmx 11:568789ce1397 409 pc.printf("connecting...\r\n");
xmwmx 11:568789ce1397 410
xmwmx 11:568789ce1397 411 networking_init(sock, client, "192.168.1.100", sensors, actuators, on_control_cmd);
xmwmx 11:568789ce1397 412
xmwmx 11:568789ce1397 413 pc.printf("Initialization done.\r\n");
xmwmx 11:568789ce1397 414 pc.printf("laser printer send ready.haha\r\n");
xmwmx 11:568789ce1397 415 ready=0;
xmwmx 11:568789ce1397 416 start=0;
xmwmx 11:568789ce1397 417 done=0;
xmwmx 11:568789ce1397 418
xmwmx 11:568789ce1397 419 while(1)
xmwmx 11:568789ce1397 420 {
xmwmx 11:568789ce1397 421 if(!ready)
xmwmx 11:568789ce1397 422 {
xmwmx 11:568789ce1397 423 publish_value(client, "report", "ready.");
xmwmx 12:51be919e2c78 424 //pc.printf("send ready.%d\r\n",flagw);
xmwmx 12:51be919e2c78 425 pc.printf("x%d|y%d|z%d\r\n",now_x,now_y,now_z);
xmwmx 11:568789ce1397 426
xmwmx 11:568789ce1397 427 }
xmwmx 11:568789ce1397 428 if(!start&&ready)
xmwmx 11:568789ce1397 429 {
xmwmx 11:568789ce1397 430 pc.printf("send start.%d\r\n",flagw);
xmwmx 11:568789ce1397 431 publish_value(client, "report", "wait to start.");
xmwmx 11:568789ce1397 432
xmwmx 11:568789ce1397 433 }
xmwmx 10:acc53f50c9df 434 // btInterrupt();
xmwmx 10:acc53f50c9df 435 //wait(0.1);
xmwmx 10:acc53f50c9df 436 //if (sw.read() == 0)
xmwmx 10:acc53f50c9df 437 //{
xmwmx 10:acc53f50c9df 438 // pc.printf("%s.\r\n", strX);
xmwmx 10:acc53f50c9df 439 // pc.printf("%s.\r\n", strY);
xmwmx 10:acc53f50c9df 440 // pc.printf("%s.\r\n", strZ);
xmwmx 10:acc53f50c9df 441 // pc.printf("%s.\r\n", strA);
xmwmx 10:acc53f50c9df 442 //}
xmwmx 10:acc53f50c9df 443
xmwmx 10:acc53f50c9df 444 if (flagx)
xmwmx 9:a3f9faa9ca1f 445 {
xmwmx 10:acc53f50c9df 446 moveto(X1,now_y,now_z);
xmwmx 10:acc53f50c9df 447 flagx = false;
xmwmx 9:a3f9faa9ca1f 448 }
xmwmx 10:acc53f50c9df 449 if (flagy)
xmwmx 10:acc53f50c9df 450 {
xmwmx 10:acc53f50c9df 451 moveto(now_x,Y1,now_z);
xmwmx 10:acc53f50c9df 452 flagy = false;
xmwmx 10:acc53f50c9df 453 }
xmwmx 10:acc53f50c9df 454 if (flagz)
xmwmx 10:acc53f50c9df 455 {
xmwmx 10:acc53f50c9df 456 moveto(now_x,now_y,Z);
xmwmx 10:acc53f50c9df 457 flagz = false;
xmwmx 10:acc53f50c9df 458 }
xmwmx 11:568789ce1397 459 if(flagw||start)
xmwmx 9:a3f9faa9ca1f 460 {
xmwmx 11:568789ce1397 461 pc.printf("openning %d\r\n",flagw);
xmwmx 10:acc53f50c9df 462
xmwmx 10:acc53f50c9df 463 FILE *fp = fopen("/sd/write.txt", "r"); //打开文件，路径以“/sd/”开头
xmwmx 10:acc53f50c9df 464
xmwmx 10:acc53f50c9df 465 if (fp == NULL) //打开失败，原因可能是文件不存在，或卡没有连接好
xmwmx 10:acc53f50c9df 466 {
xmwmx 10:acc53f50c9df 467 printf("open error!!\r\n");
xmwmx 10:acc53f50c9df 468 return 1;
xmwmx 8:e76bebe9c45f 469 }
xmwmx 10:acc53f50c9df 470 fgets(buf, sizeof(buf), fp); //读入一行的C函数
xmwmx 10:acc53f50c9df 471 pc.printf("read\r\n");
xmwmx 10:acc53f50c9df 472 fclose(fp); //关闭文件，释放资源
xmwmx 10:acc53f50c9df 473
xmwmx 10:acc53f50c9df 474 pc.printf("%s\r\n",buf);
xmwmx 10:acc53f50c9df 475 char *p = buf;
xmwmx 10:acc53f50c9df 476 float a,x,y,z;
xmwmx 10:acc53f50c9df 477 while(true)
xmwmx 9:a3f9faa9ca1f 478 {
xmwmx 10:acc53f50c9df 479 p = strchr(p, '(');
xmwmx 10:acc53f50c9df 480 if(!p) break;
xmwmx 10:acc53f50c9df 481 p++;
xmwmx 10:acc53f50c9df 482 sscanf(p, "%f%f%f%f",&x,&y,&z,&a);
xmwmx 10:acc53f50c9df 483 pc.printf("%f %f %f %f\r\n",x,y,z,a);
xmwmx 10:acc53f50c9df 484 moveto(x,y,z);
xmwmx 10:acc53f50c9df 485 wait(0.5);
xmwmx 9:a3f9faa9ca1f 486 }
xmwmx 10:acc53f50c9df 487 flagw = false;
xmwmx 10:acc53f50c9df 488 pc.printf("%d\r\n",flagw);
xmwmx 11:568789ce1397 489 if(!done)
xmwmx 11:568789ce1397 490 {
xmwmx 11:568789ce1397 491 publish_value(client, "report", "done.");
xmwmx 11:568789ce1397 492 pc.printf("send done.%d\r\n",flagw);
xmwmx 11:568789ce1397 493
xmwmx 11:568789ce1397 494 }
xmwmx 11:568789ce1397 495 ready=0;
xmwmx 11:568789ce1397 496 start=0;
xmwmx 11:568789ce1397 497 done=0;
xmwmx 10:acc53f50c9df 498 }
xmwmx 10:acc53f50c9df 499 /*if (flagw)
xmwmx 10:acc53f50c9df 500 {
xmwmx 10:acc53f50c9df 501 //if (Arr[][] !=
xmwmx 10:acc53f50c9df 502 //{
xmwmx 10:acc53f50c9df 503 pc.printf("Here1!\r\n");
xmwmx 10:acc53f50c9df 504
xmwmx 10:acc53f50c9df 505 pc.printf("Here2!\r\n");
xmwmx 10:acc53f50c9df 506 init_zero();
xmwmx 10:acc53f50c9df 507 beginning();
xmwmx 10:acc53f50c9df 508 draw();
xmwmx 10:acc53f50c9df 509 pc.printf("Here3!\r\n");
xmwmx 10:acc53f50c9df 510 //}
xmwmx 10:acc53f50c9df 511 } */
xmwmx 10:acc53f50c9df 512 if(received)
xmwmx 8:e76bebe9c45f 513 {
xmwmx 10:acc53f50c9df 514 pc.printf("%s\r\n",buf);
xmwmx 10:acc53f50c9df 515 FILE *fp_drawing = fopen("/sd/write.txt", "w");
xmwmx 10:acc53f50c9df 516 pc.printf("opening\r\n");
xmwmx 10:acc53f50c9df 517 if (fp_drawing == NULL)
xmwmx 10:acc53f50c9df 518 {
xmwmx 10:acc53f50c9df 519 printf("open error2!!\r\n");
xmwmx 10:acc53f50c9df 520 return 1;
xmwmx 10:acc53f50c9df 521 }
xmwmx 10:acc53f50c9df 522 fprintf(fp_drawing, "%s",buf);
xmwmx 10:acc53f50c9df 523 pc.printf("close\r\n");
xmwmx 10:acc53f50c9df 524 fclose(fp_drawing);
xmwmx 10:acc53f50c9df 525 pc.printf("write end");
xmwmx 10:acc53f50c9df 526 received = false;
xmwmx 8:e76bebe9c45f 527 }
xmwmx 11:568789ce1397 528 client.yield(1000);
xmwmx 11:568789ce1397 529 }
xmwmx 8:e76bebe9c45f 530 }